Design of a high-performance humanoid dual arm system with inner shoulder joints
| Autor: | Tamim Asfour, Samuel Rader, Lukas Kaul, Hennes Fischbach, Nikolaus Vahrenkamp |
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| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Computer science Arm solution 02 engineering and technology Workspace Kinematics law.invention Exoskeleton Industrial robot 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering law Robot Robotic arm Humanoid robot Simulation |
| Zdroj: | 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) Humanoids |
| DOI: | 10.1109/humanoids.2016.7803325 |
| Popis: | This paper presents the design of the KIT Dual Arm System, which consists of two high-performance, humanoid robot arms. Based on human arm kinematics, each arm has 8 degrees of freedom (DOF) including a clavicle joint of the inner shoulder. In comparison to classical 7 DOF robot arms, the incorporation of the clavicle joint results in a larger workspace and an increased dexterity in bimanual tasks. The arm structure is based on an exoskeleton design approach: Highly modular and highly integrated sensor-actuator-control units in each joint are linked by a hollow structure, which allows a stiff construction at low weight. Combined with its length of 1 m and a maximum payload of 11 kg at stretched configuration, the performance of the KIT Arm is comparable to state-of-the art industrial robot arms. Thereby, it combines the strengths of humanoid and industrial robot arms. |
| Databáze: | OpenAIRE |
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